#include <ros/ros.h>
#include <tf/transform_broadcaster.h>

int main(int argc, char** argv){
  ros::init(argc, argv, "kinova_tf_publisher");
  ros::NodeHandle n;

  tf::TransformBroadcaster broadcaster;
  ros::Rate rate(10);
  while(n.ok())
  {
     broadcaster.sendTransform(
	tf::StampedTransform(
		tf::Transform(tf::Quaternion(0, 0, 0, 1), tf::Vector3(0.179, 0.00, 0.50)),
		ros::Time::now(),"base_link", "kinova_base_link"));
     rate.sleep();
  }

}
